Add Vehicle.vibration FactGroup

src/FactSystem/FactGroup.cc

@@ -177,7 +177,7 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
         // Make sure we have the required keys
         QString errorString;
         QStringList requiredKeys;
-        requiredKeys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey;
+        requiredKeys << _nameJsonKey << _typeJsonKey << _shortDescriptionJsonKey;
         if (!JsonHelper::validateRequiredKeys(jsonObject, requiredKeys, errorString)) {
             qWarning() << errorString;
             return;
@@ -215,7 +215,7 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
 
         FactMetaData* metaData = new FactMetaData(type, this);
 
-        metaData->setDecimalPlaces(jsonObject.value(_decimalPlacesJsonKey).toInt());
+        metaData->setDecimalPlaces(jsonObject.value(_decimalPlacesJsonKey).toInt(0));
         metaData->setShortDescription(jsonObject.value(_shortDescriptionJsonKey).toString());
         metaData->setRawUnits(jsonObject.value(_unitsJsonKey).toString());
 

src/Vehicle/Vehicle.cc

@@ -58,6 +58,7 @@ const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
 const char* Vehicle::_gpsFactGroupName =        "gps";
 const char* Vehicle::_batteryFactGroupName =    "battery";
 const char* Vehicle::_windFactGroupName =       "wind";
+const char* Vehicle::_vibrationFactGroupName =  "vibration";
 
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
@@ -83,6 +84,13 @@ const char* VehicleWindFactGroup::_directionFactName =      "direction";
 const char* VehicleWindFactGroup::_speedFactName =          "speed";
 const char* VehicleWindFactGroup::_verticalSpeedFactName =  "verticalSpeed";
 
+const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
+const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
+const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
+const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
+const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
+const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";
+
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
                  MAV_AUTOPILOT              firmwareType,
@@ -150,6 +158,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _gpsFactGroup(this)
     , _batteryFactGroup(this)
     , _windFactGroup(this)
+    , _vibrationFactGroup(this)
 {
     _addLink(link);
 
@@ -232,10 +241,12 @@ Vehicle::Vehicle(LinkInterface*             link,
     _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
     _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
     _addFactGroup(&_windFactGroup,      _windFactGroupName);
+    _addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
 
     _gpsFactGroup.setVehicle(this);
     _batteryFactGroup.setVehicle(this);
     _windFactGroup.setVehicle(this);
+    _vibrationFactGroup.setVehicle(this);
 }
 
 Vehicle::~Vehicle()
@@ -333,6 +344,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_SCALED_IMU3:
         emit mavlinkScaledImu3(message);
         break;
+    case MAVLINK_MSG_ID_VIBRATION:
+        _handleVibration(message);
+        break;
 
     // Following are ArduPilot dialect messages
 
@@ -346,6 +360,19 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
+void Vehicle::_handleVibration(mavlink_message_t& message)
+{
+    mavlink_vibration_t vibration;
+    mavlink_msg_vibration_decode(&message, &vibration);
+
+    _vibrationFactGroup.xAxis()->setRawValue(vibration.vibration_x);
+    _vibrationFactGroup.yAxis()->setRawValue(vibration.vibration_y);
+    _vibrationFactGroup.zAxis()->setRawValue(vibration.vibration_z);
+    _vibrationFactGroup.clipCount1()->setRawValue(vibration.clipping_0);
+    _vibrationFactGroup.clipCount2()->setRawValue(vibration.clipping_1);
+    _vibrationFactGroup.clipCount3()->setRawValue(vibration.clipping_2);
+}
+
 void Vehicle::_handleWind(mavlink_message_t& message)
 {
     mavlink_wind_t wind;
@@ -1357,3 +1384,31 @@ void VehicleWindFactGroup::setVehicle(Vehicle* vehicle)
 {
     _vehicle = vehicle;
 }
+
+VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
+    : FactGroup(1000, ":/json/Vehicle/VibrationFact.json", parent)
+    , _vehicle(NULL)
+    , _xAxisFact        (0, _xAxisFactName,         FactMetaData::valueTypeDouble)
+    , _yAxisFact        (0, _yAxisFactName,         FactMetaData::valueTypeDouble)
+    , _zAxisFact        (0, _zAxisFactName,         FactMetaData::valueTypeDouble)
+    , _clipCount1Fact   (0, _clipCount1FactName,    FactMetaData::valueTypeUint32)
+    , _clipCount2Fact   (0, _clipCount2FactName,    FactMetaData::valueTypeUint32)
+    , _clipCount3Fact   (0, _clipCount3FactName,    FactMetaData::valueTypeUint32)
+{
+    _addFact(&_xAxisFact,       _xAxisFactName);
+    _addFact(&_yAxisFact,       _yAxisFactName);
+    _addFact(&_zAxisFact,       _zAxisFactName);
+    _addFact(&_clipCount1Fact,  _clipCount1FactName);
+    _addFact(&_clipCount2Fact,  _clipCount2FactName);
+    _addFact(&_clipCount3Fact,  _clipCount3FactName);
+
+    // Start out as not available "--.--"
+    _xAxisFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _yAxisFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+    _zAxisFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
+}
+
+void VehicleVibrationFactGroup::setVehicle(Vehicle* vehicle)
+{
+    _vehicle = vehicle;
+}

src/Vehicle/Vehicle.h

@@ -52,6 +52,46 @@ Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
 class Vehicle;
 
+class VehicleVibrationFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    VehicleVibrationFactGroup(QObject* parent = NULL);
+
+    Q_PROPERTY(Fact* xAxis      READ xAxis      CONSTANT)
+    Q_PROPERTY(Fact* yAxis      READ yAxis      CONSTANT)
+    Q_PROPERTY(Fact* zAxis      READ zAxis      CONSTANT)
+    Q_PROPERTY(Fact* clipCount1 READ clipCount1 CONSTANT)
+    Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
+    Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
+
+    Fact* xAxis(void)       { return &_xAxisFact; }
+    Fact* yAxis(void)       { return &_yAxisFact; }
+    Fact* zAxis(void)       { return &_zAxisFact; }
+    Fact* clipCount1(void)  { return &_clipCount1Fact; }
+    Fact* clipCount2(void)  { return &_clipCount2Fact; }
+    Fact* clipCount3(void)  { return &_clipCount3Fact; }
+
+    void setVehicle(Vehicle* vehicle);
+
+    static const char* _xAxisFactName;
+    static const char* _yAxisFactName;
+    static const char* _zAxisFactName;
+    static const char* _clipCount1FactName;
+    static const char* _clipCount2FactName;
+    static const char* _clipCount3FactName;
+
+private:
+    Vehicle*    _vehicle;
+    Fact        _xAxisFact;
+    Fact        _yAxisFact;
+    Fact        _zAxisFact;
+    Fact        _clipCount1Fact;
+    Fact        _clipCount2Fact;
+    Fact        _clipCount3Fact;
+};
+
 class VehicleWindFactGroup : public FactGroup
 {
     Q_OBJECT
@@ -73,8 +113,6 @@ public:
     static const char* _speedFactName;
     static const char* _verticalSpeedFactName;
 
-private slots:
-
 private:
     Vehicle*    _vehicle;
     Fact        _directionFact;
@@ -242,7 +280,8 @@ public:
 
     Q_PROPERTY(FactGroup* gps       READ gpsFactGroup       CONSTANT)
     Q_PROPERTY(FactGroup* battery   READ batteryFactGroup   CONSTANT)
-    Q_PROPERTY(FactGroup* wind      READ windFactGroup   CONSTANT)
+    Q_PROPERTY(FactGroup* wind      READ windFactGroup      CONSTANT)
+    Q_PROPERTY(FactGroup* vibration READ vibrationFactGroup CONSTANT)
 
     /// Resets link status counters
     Q_INVOKABLE void resetCounters  ();
@@ -389,9 +428,10 @@ public:
     Fact* altitudeRelative  (void) { return &_altitudeRelativeFact; }
     Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
 
-    FactGroup* gpsFactGroup     (void) { return &_gpsFactGroup; }
-    FactGroup* batteryFactGroup (void) { return &_batteryFactGroup; }
-    FactGroup* windFactGroup    (void) { return &_windFactGroup; }
+    FactGroup* gpsFactGroup         (void) { return &_gpsFactGroup; }
+    FactGroup* batteryFactGroup     (void) { return &_batteryFactGroup; }
+    FactGroup* windFactGroup        (void) { return &_windFactGroup; }
+    FactGroup* vibrationFactGroup   (void) { return &_vibrationFactGroup; }
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
@@ -495,6 +535,7 @@ private:
     void _handleBatteryStatus(mavlink_message_t& message);
     void _handleSysStatus(mavlink_message_t& message);
     void _handleWind(mavlink_message_t& message);
+    void _handleVibration(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _mapTrajectoryStart(void);
     void _mapTrajectoryStop(void);
@@ -605,9 +646,10 @@ private:
     Fact _altitudeRelativeFact;
     Fact _altitudeAMSLFact;
 
-    VehicleGPSFactGroup     _gpsFactGroup;
-    VehicleBatteryFactGroup _batteryFactGroup;
-    VehicleWindFactGroup    _windFactGroup;
+    VehicleGPSFactGroup         _gpsFactGroup;
+    VehicleBatteryFactGroup     _batteryFactGroup;
+    VehicleWindFactGroup        _windFactGroup;
+    VehicleVibrationFactGroup   _vibrationFactGroup;
 
     static const char* _rollFactName;
     static const char* _pitchFactName;
@@ -621,6 +663,7 @@ private:
     static const char* _gpsFactGroupName;
     static const char* _batteryFactGroupName;
     static const char* _windFactGroupName;
+    static const char* _vibrationFactGroupName;
 
     static const int _vehicleUIUpdateRateMSecs = 100;
 

src/Vehicle/VibrationFact.json

+{
+    "version": 1,
+
+    "properties": [
+        {
+            "name":             "xAxis",
+            "shortDescription": "Vibe xAxis",
+            "type":             "double",
+            "decimalPlaces":    1
+        },
+        {
+            "name":             "yAxis",
+            "shortDescription": "Vibe yAxis",
+            "type":             "double",
+            "decimalPlaces":    1
+        },
+        {
+            "name":             "zAxis",
+            "shortDescription": "Vibe zAxis",
+            "type":             "double",
+            "decimalPlaces":    1
+        },
+        {
+            "name":             "clipCount1",
+            "shortDescription": "Clip Count (1)",
+            "type":             "uint32"
+        },
+        {
+            "name":             "clipCount2",
+            "shortDescription": "Clip Count (2)",
+            "type":             "uint32"
+        },
+        {
+            "name":             "clipCount3",
+            "shortDescription": "Clip Count (3)",
+            "type":             "uint32"
+        }
+    ]
+}